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<div class="title">transformation_estimation_dual_quaternion.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">   46</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion&lt;PointSource, PointTarget, Scalar&gt;::estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">size_t</span> nr_points = cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != nr_points)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, nr_points, cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointSource&gt;</a> source_it (cloud_src);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointTarget&gt;</a> target_it (cloud_tgt);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  estimateRigidTransformation (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a5cb621ac8082dff0031100068f969c25">   65</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion&lt;PointSource, PointTarget, Scalar&gt;::estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointSource&gt;</a> source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointTarget&gt;</a> target_it (cloud_tgt);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  estimateRigidTransformation (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a0ff8e03e1d07c03ef58313dd7b474654">   84</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion&lt;PointSource, PointTarget, Scalar&gt;::estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != indices_tgt.size ())</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointSource&gt;</a> source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointTarget&gt;</a> target_it (cloud_tgt, indices_tgt);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  estimateRigidTransformation (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a23a7a6bd0209909af7c9a2f50adfeb61">  104</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion&lt;PointSource, PointTarget, Scalar&gt;::estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointSource&gt;</a> source_it (cloud_src, correspondences, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointTarget&gt;</a> target_it (cloud_tgt, correspondences, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  estimateRigidTransformation (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a97e69c011160bb5cdc3511343202f294">  117</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion&lt;PointSource, PointTarget, Scalar&gt;::estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointSource&gt;</a>&amp; source_it,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointTarget&gt;</a>&amp; target_it,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> npts = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_it.<a class="code" href="classpcl_1_1_const_cloud_iterator.html#ab2b64b7e2ca83f4a3cb97f1a823a72c4">size</a> ());</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// dual quaternion optimization</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  Eigen::Matrix&lt;double, 4, 4&gt; C1 = Eigen::Matrix&lt;double, 4, 4&gt;::Zero ();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  Eigen::Matrix&lt;double, 4, 4&gt; C2 = Eigen::Matrix&lt;double, 4, 4&gt;::Zero ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordtype">double</span>* c1 = C1.data ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">double</span>* c2 = C2.data ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">const</span> PointSource&amp; a = *source_it;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keyword">const</span> PointTarget&amp; b = *target_it;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> axbx = a.x * b.x;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> ayby = a.y * b.y;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> azbz = a.z * b.z;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> axby = a.x * b.y;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> aybx = a.y * b.x;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> axbz = a.x * b.z;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> azbx = a.z * b.x;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> aybz = a.y * b.z;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> azby = a.z * b.y;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    c1[0]  += axbx - azbz - ayby;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    c1[5]  += ayby - azbz - axbx;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    c1[10] += azbz - axbx - ayby;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    c1[15] += axbx + ayby + azbz;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    c1[1]  += axby + aybx;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    c1[2]  += axbz + azbx;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    c1[3]  += aybz - azby;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    c1[6]  += azby + aybz;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    c1[7]  += azbx - axbz;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    c1[11] += axby - aybx;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    c2[1]  += a.z + b.z;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    c2[2]  -= a.y + b.y;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    c2[3]  += a.x - b.x;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    c2[6]  += a.x + b.x;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    c2[7]  += a.y - b.y;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    c2[11] += a.z - b.z;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    source_it++;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    target_it++;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  c1[4]  = c1[1];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  c1[8]  = c1[2];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  c1[9]  = c1[6];</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  c1[12] = c1[3];</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  c1[13] = c1[7];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  c1[14] = c1[11];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  c2[4]  = -c2[1];</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  c2[8]  = -c2[2];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  c2[12] = -c2[3];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  c2[9]  = -c2[6];</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  c2[13] = -c2[7];</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  c2[14] = -c2[11];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  C1 *= -2.0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  C2 *= 2.0;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;double, 4, 4&gt; A = (0.25 / double (npts)) * C2.transpose () * C2 - C1;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keyword">const</span> Eigen::EigenSolver&lt;Eigen::Matrix&lt;double, 4, 4&gt; &gt; es (A);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  ptrdiff_t i;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  es.eigenvalues ().real ().maxCoeff (&amp;i);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;double, 4, 1&gt; qmat = es.eigenvectors ().col (i).real ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;double, 4, 1&gt; smat = - (0.5 / double (npts)) * C2 * qmat;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;double&gt; q (qmat (3), qmat (0), qmat (1), qmat (2));</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;double&gt; s (smat (3), smat (0), smat (1), smat (2));</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;double&gt; t = s * q.conjugate ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 3&gt; R (q.toRotationMatrix ());</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      transformation_matrix (i, j) = R (i, j);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  transformation_matrix (0, 3) = - t.x ();</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  transformation_matrix (1, 3) = - t.y ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  transformation_matrix (2, 3) = - t.z ();</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_const_cloud_iterator_html"><div class="ttname"><a href="classpcl_1_1_const_cloud_iterator.html">pcl::ConstCloudIterator</a></div><div class="ttdoc">Iterator class for point clouds with or without given indices</div><div class="ttdef"><b>Definition:</b> cloud_iterator.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_const_cloud_iterator_html_ab2b64b7e2ca83f4a3cb97f1a823a72c4"><div class="ttname"><a href="classpcl_1_1_const_cloud_iterator.html#ab2b64b7e2ca83f4a3cb97f1a823a72c4">pcl::ConstCloudIterator::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Size of the range the iterator is going through. Depending on how the ConstCloudIterator was construc...</div><div class="ttdef"><b>Definition:</b> cloud_iterator.hpp:537</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_dual_quaternion_html_a8428050ede1f1617922dc98d6da6c9f6"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_dual_quaternion.html#a8428050ede1f1617922dc98d6da6c9f6">pcl::registration::TransformationEstimationDualQuaternion::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...</div><div class="ttdef"><b>Definition:</b> transformation_estimation_dual_quaternion.hpp:46</div></div>
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